Autonomous Boundary-Following Control for Inner Corner Coverage
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Solution Overview
Problem
Autonomous working machines face challenges in ensuring safe operation while maintaining effective working coverage, particularly when navigating inner corners within a working area, which can result in reduced cutting coverage or potential collisions.
Innovation Solution
A control method for autonomous working machines that adjusts its pose to increase the distance from a boundary when approaching an inner corner, using sensors to determine the distance and angle, and then maneuvers along the adjacent boundary to ensure complete coverage and avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous working machine moves along the boundary to ensure working coverage, then the working coverage is improved, but the machine may collide with boundaries or obstacles causing damage
Solution Approach 1:
The machine performs preliminary detection of boundaries and obstacles using sensors (camera, ultrasonic sensor, laser radar) before moving along the boundary. The control unit processes detection results in advance to generate safe movement paths, allowing the machine to maintain working coverage while avoiding collisions by knowing potential hazards beforehand
Solution Approach 2:
The control unit acts as an intermediary between the movement control and detection units. It receives detection data from sensors, processes the information about boundaries and obstacles, and generates appropriate movement commands that balance working coverage with collision avoidance, effectively mediating between productivity and safety requirements
2Reliability
If the autonomous working machine maintains a certain distance from the boundary to avoid collision, then the machine safety is improved, but the working coverage is reduced
Solution Approach 1:
The machine dynamically adjusts its distance from the boundary based on real-time detection results. When the detection unit identifies clear areas, the machine moves closer to maximize working coverage. When obstacles or boundaries are detected, the machine increases distance to avoid collision. This dynamic adjustment allows the system to optimize both safety and productivity continuously during operation
3Measurement precision
If the autonomous working machine uses multiple sensors to detect boundaries and obstacles, then the detection accuracy is improved, but the device complexity increases
Solution Approach 1:
The control unit is designed to handle multiple types of sensor data (camera images, ultrasonic signals, laser radar data) through a unified processing framework. This multi-functional control unit can interpret and process various detection results using the same basic algorithms, reducing the need for separate processing systems for each sensor type and thereby limiting the increase in overall system complexity
Data Source
AI summary
A control method for an autonomous working machine, a storage medium, and an autonomous working machine are disclosed. The control method includes: when the autonomous working machine is in a boundary-following working mode and detects a first boundary and a second boundary of a working area, controlling the autonomous working machine to move based on a first direction to move along the first boundary, wherein the first boundary and the second boundary are connected and form an included angle; determining a first distance between the second boundary and the autonomous working machine; if the first distance is less than a first threshold, adjusting a pose of the autonomous working machine to increase a second distance, wherein the second distance is a distance between a rear portion of the autonomous working machine and the first boundary; and controlling the autonomous working machine to move along the second boundary.